Assembly device and method of crossed roller bearing for robot

Abstract

The invention discloses an assembly device and method of a crossed roller bearing for a robot, and relates to the technical field of foods.The assembly device comprises a mixing equipment upper bin, a mixing bin device is arranged at the bottom end of the mixing equipment upper bin, a supporting base is arranged at the bottom end of a mixing and stirring inner bin, and stirring devices are arranged in the mixing equipment upper bin and the mixing bin device; a transmission device is arranged at the top end of the mixing equipment upper bin, one end of the transmission device is connected with the outer wall of the stirring device, the other end of the transmission device is connected with a pushing device, the pushing device is installed on a feeding device, the feeding device is fixedly connected with the side wall of the mixing equipment upper bin, and a feeding port is formed in the connecting position of the mixing equipment upper bin and the feeding device. A discharging device is rotationally connected to the outer wall of the mixing and stirring inner bin and the supporting base, and a discharging box is connected to the side wall of the discharging device; through the efficient transmission device and the driving system, the simplified control system not only improves the operation convenience, but also reduces the energy consumption of the equipment.

Description

Technical Field

[0001] This invention relates to the field of bearing assembly technology, and in particular to an assembly apparatus and method for cross roller bearings for robots. Background Technology

[0002] The assembly device for cross roller bearings for robots is an automated device used for high-precision assembly of cross roller bearings. Cross roller bearings are commonly used in fields such as robots and precision instruments, requiring high assembly accuracy and efficiency. It is usually equipped with a pressing device for precisely pressing and assembling the various components of the cross roller bearing, such as rollers, inner and outer rings, as well as an assembly area. In the assembly area, an automated robotic arm assembles the various parts of the bearing, and the assembled cross roller bearing is then transferred to the next workstation via a conveyor. However, placing the assembled bearings onto the conveyor table consumes additional time, reducing production line efficiency. Each assembled bearing requires manual handling and placement, which not only increases operation time but also easily creates production bottlenecks, especially during high-demand periods. This can lead to a large backlog of parts on the conveyor table, impacting the efficiency of the entire production process. During the manual placement of bearings onto the conveyor table, operators frequently come into contact with the table and bearings. If the conveyor table moves quickly, operators are prone to finger pinches, cuts, or other injuries while placing parts. This risk is significantly increased, especially in the work environment, if operators are careless or working under fatigue. Therefore, we propose a robotic assembly device and method for crossed roller bearings. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides an assembly device and method for cross roller bearings for robots. This device integrates multiple links such as feeding, mixing, and discharging into the same system, without the need for separate control units to manage each link separately. Through efficient transmission devices and drive systems, the links can work together, avoiding the complexity of distributed control systems in traditional equipment.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an assembly device for a robot cross roller bearing, comprising an assembly device body, a bearing pressing worktable installed on the left side of the assembly device body, a conveyor belt installed on the assembly device body, bearing components being transported and placed on the conveyor belt, an assembly worktable installed in the middle of the assembly device body, an assembly robotic arm installed above the assembly worktable, a workstation conveyor connected to one side of the assembly worktable, a pushing device installed on the workstation conveyor, and a disassembly device installed on the pushing device.

[0005] As a preferred embodiment of the present invention, the pushing device includes a mounting plate installed on the outer wall of the workstation conveyor, a drive motor disposed on the outer wall of the mounting plate, a turntable connected to the output end of the drive motor, a convex shaft installed on the outer wall of the turntable, a rotating shaft rotatably connected to the mounting plate, a movable plate connected to the rotating shaft, a slot formed in the movable plate and inserted into the convex shaft, a gear plate disposed on the outer wall of the bottom end of the movable plate, a movable rod inserted into the outer wall of the bottom end of the mounting plate, a toothed block disposed on the movable rod and meshing with the gear plate, a connecting block connected to the side wall of the movable rod, and a push plate connected to the connecting block, wherein a disassembly device is installed between the connecting block and the push plate.

[0006] As a preferred embodiment of the present invention, the main body of the assembly device is provided with an external switch, and the input end of the drive motor is electrically connected to the external switch through a wire.

[0007] As a preferred embodiment of the present invention, the groove is shaped like an oval, and the diameter of the groove is equal to the outer diameter of the convex shaft.

[0008] As a preferred embodiment of the present invention, the tooth blocks are uniformly arranged in several groups along the straight line of the length of the movable rod, and the gap between each group of tooth blocks is meshed with the gear plate.

[0009] As a preferred embodiment of the present invention, the disassembly device includes a groove formed in the push plate, a slider slidably connected in the groove, an installation rod connected to the slider and inserted into the push plate, a return spring wound around the outer wall of the installation rod, a pull ring fixed on the outer end wall of the installation rod, and an installation groove formed in the connecting block.

[0010] As a preferred embodiment of the present invention, one end of the reset spring is connected to the outer wall of the slider, and the other end of the reset spring is connected to the inner wall of the push plate.

[0011] As a preferred embodiment of the present invention, the pull ring is shaped like a ring, and the outer wall of the pull ring is provided with anti-slip texture.

[0012] As a preferred embodiment of the present invention, the outer diameter of the mounting rod is set to be equal to the inner diameter of the mounting groove, and the mounting rod is inserted into the mounting groove through the push plate.

[0013] The present invention also provides a method for using an assembly device for cross roller bearings for robots, the specific method being as follows: S1. The operator first conducts a status check on the main body of the assembly device, confirming that the bearing pressing workbench is flat and free of foreign objects, the conveyor belt is not loose or damaged, the assembly robot arm joints move flexibly without jamming, and the conveyor track of the workstation is not blocked; the focus is on checking the pushing device and the disassembly device: check whether the wiring of the drive motor of the pushing device is secure, whether the gear plate and the gear block mesh smoothly, whether the push plate passes through the mounting rod of the disassembly device and the connecting block is locked securely, and whether the mounting rod is fully inserted into the mounting slot; after confirming that all components are in normal condition, connect the external power supply to the main body of the assembly device, ensure that the external switch is in the off state, and prepare to proceed with the subsequent operation.

[0014] S2. The operator places the cross roller bearing parts to be assembled in batches neatly at the feed end of the conveyor belt, ensuring that the stacking height of the bearing parts does not exceed the side guardrail of the conveyor belt to prevent them from falling during the conveying process; turn on the control switch of the corresponding conveyor belt on the main body of the assembly device, and the conveyor belt runs at the preset speed, smoothly conveying the batch of bearing parts to the designated assembly area of ​​the assembly workbench. After the conveyor belt has delivered the bearing parts to the designated position, the conveyor belt can be temporarily turned off, or the automatic pause mode can be set to the designated position.

[0015] S3. Turn on the control switch of the assembly robot arm and set the assembly parameters through the operation panel, such as assembly pressure, gripping angle, and assembly accuracy threshold. After the assembly robot arm starts, it first grips the bearing parts to be assembled on the assembly worktable and completes the precise assembly of the inner and outer rings and rollers of the bearing according to the preset program. If auxiliary pressing and positioning are required during the assembly process, some bearing parts that need to be reinforced and fixed can be transferred to the bearing pressing worktable. The pressing mechanism of the worktable is used to press the bearing parts to ensure that the assembly structure is stable. The assembled bearing parts are stacked in batches on the side of the assembly worktable near the station conveyor, waiting to be transferred.

[0016] S4. The operator turns on the external switch of the corresponding pusher device on the main body of the assembly device and starts the drive motor. The output end of the drive motor drives the turntable to rotate at a constant speed. The convex shaft on the outer wall of the turntable moves in a circular motion with the turntable. Because the convex shaft is inserted into the oval slot of the movable plate, the convex shaft slides along the inner wall of the slot and drives the movable plate to swing back and forth around the axis. The gear plate at the bottom of the movable plate swings synchronously. Through the meshing transmission with the tooth block on the movable rod, it drives the movable rod to move in a straight line along the insertion hole at the bottom of the mounting plate. The pusher plate connected to the movable rod through the connecting block moves back and forth synchronously with the movable rod. When the pusher plate moves forward, it smoothly pushes the assembled bearing parts stacked on the assembly worktable onto the conveyor track of the station conveyor. When the pusher plate returns to its initial position, it waits for the next pusher cycle. At the same time, the control switch of the station conveyor is turned on. The station conveyor conveyor transports the assembled bearing parts pushed by the pusher plate to the next process area. There is no need for manual contact with the station conveyor throughout the process, avoiding accidental finger injury.

[0017] S5. When the push plate experiences wear and tear or material residue after prolonged use, leading to a decrease in pushing accuracy and requiring maintenance, follow these steps: First, turn off the external switch of the push device and stop the drive motor, ensuring the push plate is in the reset state. The operator holds the circular pull rings on both sides of the push plate's disassembly device and pulls them at a constant speed away from the connecting block. The pull rings move the mounting rod synchronously, and the sliders on both sides of the mounting rod slide along the grooves inside the push plate, simultaneously compressing the reset spring until the mounting rod is completely disengaged from the mounting groove in the connecting block. At this point, the push plate is unlocked from the connecting block, and the push plate can be directly removed for cleaning, wear repair, or replacement. After maintenance or replacement, hold the pull rings again to pull the mounting rod and compress the reset spring, aligning the push plate with the connecting block and the mounting rod with the mounting groove. Slowly release the pull rings, allowing the reset spring to return to its natural extension state, pushing the sliders and mounting rod back to their original positions. The mounting rod automatically inserts into the mounting groove, completing the rapid installation of the push plate. After installation, manually push the push plate to check for stability. Once confirmed, turn the external switch of the push device back on to restore the pushing function.

[0018] S6. After all crossed roller bearing components have been assembled and transferred, first turn off the control switches of the workstation conveyor and the pusher, then turn off the switches of the assembly robot arm and the conveyor belt; disconnect the external power supply of the main body of the assembly device and clean the device: clean the bearing debris or oil stains remaining on the conveyor belt, assembly worktable, and workstation conveyor, and wipe the surface of the pusher plate and disassembly device.

[0019] Compared with the prior art, the beneficial effects that this invention can achieve are: 1. Traditional manual placement of bearings onto the conveyor requires manual handling and is time-consuming, easily leading to production bottlenecks, especially during periods of high demand. This manual operation can cause production stoppages and a backlog of parts awaiting transfer, thus affecting the smooth operation of the entire production process. However, with the automated assembly device in this embodiment, the pushing device can accurately and automatically push the assembled bearing parts to the workstation conveyor, reducing manual intervention and greatly improving production efficiency. It also avoids production line congestion. The reciprocating motion of the pusher plate ensures stable transfer of bearing parts, eliminates the time delay of manual operation, improves the overall smoothness of the production line, and makes each assembly step more efficient.

[0020] 2. In traditional manual operation, operators frequently come into contact with the conveyor and bearings, which can easily lead to safety hazards such as finger pinching and scratches. The risk of injury increases further when operators are fatigued or careless. This device uses an automated pushing device to push the bearing parts from the assembly workbench to the conveyor, avoiding direct contact between operators and the high-speed conveyor. This significantly reduces the risk of injury caused by human operation, ensuring the safety of operators, reducing potential accidents caused by operational errors, and improving the safety of the working environment.

[0021] 3. The disassembly mechanism of the pusher is designed with flexible positioning and tool-free disassembly, allowing the pusher plate to be quickly separated from the connecting block. Operators can easily perform maintenance and replacement without the need for tools. The pull ring design allows operators to easily unlock the pusher plate from the connecting block, significantly shortening maintenance time and reducing production line downtime. This quick disassembly and installation function effectively improves equipment maintenance efficiency and ensures production continuity. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional schematic diagram of the structure of the feeding device of the present invention; Figure 3 This is a first-view perspective three-dimensional schematic diagram of a partial structure of the feeding device of the present invention; Figure 4 This is a second-view perspective three-dimensional schematic diagram of a partial structure of the feeding device of the present invention; Figure 5 For the present invention Figure 3 A magnified schematic diagram of the structure at point A in the middle; Figure 6 This is a top-view cross-sectional view of a partial structure of the disassembly device of the present invention.

[0023] The components include: 1. Assembly device body; 2. Bearing pressing worktable; 3. Conveyor belt; 4. Bearing components; 5. Assembly worktable; 6. Assembly robotic arm; 7. Workstation conveyor; 8. Pushing device; 81. Mounting plate; 82. Drive motor; 83. Turntable; 84. Cam shaft; 85. Movable plate; 86. Slot; 87. Rotating shaft; 88. Gear plate; 89. Gear block; 810. Movable rod; 811. Connecting block; 812. Push plate; 9. Disassembly device; 91. Slide groove; 92. Slider; 93. Mounting rod; 94. Return spring; 95. Pull ring; 96. Mounting slot. Detailed Implementation

[0024] To make the technical means, creative features, and achieved objectives and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention. Unless otherwise specified, the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0025] Example: like Figure 1 - Figure 6 As shown, this embodiment proposes an assembly device for a robot cross roller bearing, including an assembly device body 1, a bearing pressing worktable 2 installed on the left side of the assembly device body 1, a conveyor belt 3 installed on the assembly device body 1, bearing parts 4 being transported and placed on the conveyor belt 3, an assembly worktable 5 installed in the middle of the assembly device body 1, an assembly robot arm 6 installed above the assembly worktable 5, a workstation conveyor 7 connected to one side of the assembly worktable 5, a pushing device 8 installed on the workstation conveyor 7, and a disassembly device 9 installed on the pushing device 8.

[0026] The feeding device 8 includes a mounting plate 81 installed on the outer wall of the workstation conveyor 7, a drive motor 82 installed on the outer wall of the mounting plate 81, a turntable 83 connected to the output end of the drive motor 82, a convex shaft 84 installed on the outer wall of the turntable 83, a rotating shaft 87 rotatably connected to the mounting plate 81, a movable plate 85 connected to the rotating shaft 87, a slot 86 opened in the movable plate 85 and inserted into the convex shaft 84, a gear plate 88 installed on the bottom outer wall of the movable plate 85, a movable rod 810 inserted into the bottom outer wall of the mounting plate 81, a toothed block 89 installed on the movable rod 810 and meshing with the gear plate 88, a connecting block 811 connected to the side wall of the movable rod 810, and a push plate 812 connected to the connecting block 811, wherein a disassembly device 9 is installed between the connecting block 811 and the push plate 812. The operator starts the drive motor 82 via an external switch on the main body 1 of the assembly device. The output of the drive motor 82 drives the turntable 83 to rotate at a constant speed. The convex shaft 84, installed on the outer wall of the turntable 83, moves in a circular motion synchronously with the turntable. The convex shaft 84 is inserted into the oval slot 86 in the movable plate 85. Because the diameter of the slot 86 is perfectly matched with the outer diameter of the convex shaft 84, the convex shaft 84 slides along the inner wall of the slot 86 during the circular motion, thereby causing the movable plate 85 to reciprocate around the rotating shaft 87. The rotating shaft 87 is fixed on the mounting plate 81, providing a stable fulcrum for the movable plate. The gear plate 88 on the outer wall of the bottom end of the movable plate 85 swings synchronously with the movable plate, and the gear plate 88 precisely meshes with the tooth block 89 on the movable rod 810. The tooth block 89 is evenly distributed along the length of the movable rod 810, and the gap of each set of tooth blocks is perfectly matched with the gear plate 88. When the gear plate 88 swings, it drives the movable rod 810 to make linear reciprocating motion along the insertion hole at the bottom end of the mounting plate 81 through meshing transmission. Because the push plate 812 is fixedly connected to the movable rod 810 through the connecting block 811, the reciprocating motion of the movable rod 810 directly drives the push plate 812 to reciprocate synchronously. When the push plate 812 moves forward, it smoothly pushes the assembled bearing parts 4 stacked in batches on the assembly workbench 5 to the station conveyor 7. When the push plate 812 resets backward, it returns to the initial position to prepare for the next push. The disassembly device 9 includes a slide groove 91 opened in the push plate 812, a slider 92 slidably connected in the slide groove 91, an installation rod 93 connected to the slider 92 and inserted into the push plate 812, a return spring 94 wound around the outer wall of the installation rod 93, a pull ring 95 fixed on the outer end wall of the installation rod 93, and an installation groove 96 opened in the connecting block 811. The pusher plate 812 in the pusher device 8 is in constant contact with the bearing component 4, and is prone to wear and material residue affecting the pushing accuracy, requiring regular maintenance and replacement. The disassembly device 9, through its elastic positioning and tool-free disassembly design, enables the rapid separation and installation of the pusher plate 812 and the connecting block 811, significantly shortening maintenance time. The specific working principle is as follows: The mounting rod 93 of the disassembly device 9 is fixedly connected to the slider 92 on both sides. The slider 92 is slidably embedded in the groove 91 in the push plate 812, and the return spring 94 wound around the outer wall of the mounting rod 93 is always in a naturally extended state. One end of the return spring is connected to the outer wall of the slider 92, and the other end is fixed to the inner wall of the push plate 812. The spring force pushes the slider 92 to slide along the groove 91 toward the connecting block 811, thereby driving the mounting rod 93 to pass through the push plate 812 and accurately insert into the mounting groove 96 in the connecting block 811. The outer diameter of the mounting rod 93 is completely consistent with the inner diameter of the mounting groove 96. The push plate 812 and the connecting block 811 are securely locked together, ensuring no loosening during the material pushing process. When the push plate 812 needs to be repaired, the operator only needs to hold the annular pull ring 95 at the outer end of the mounting rod 93. The outer wall of the pull ring is provided with anti-slip texture to prevent the hand from slipping. Pull the pull ring 95 away from the connecting block 811. The pull ring drives the mounting rod 93 to move synchronously. The slider 92 compresses the return spring 94 along the slide groove 91 until the mounting rod 93 is completely disengaged from the mounting groove 96 of the connecting block 811. At this time, the push plate 812 and the connecting block 811 are unlocked, and the push plate can be directly removed for repair or replacement. After maintenance, hold the pull ring 95 again to pull the mounting rod 93 and compress the return spring 94, so that the push plate 812 is attached to the connecting block 811. After aligning the position of the mounting rod 93 and the mounting groove 96, release the pull ring 95. The return spring 94 returns to its natural extended state, pushing the slider 92 and the mounting rod 93 to reset. The mounting rod 93 automatically inserts into the mounting groove 96, completing the quick installation of the push plate 812. The entire disassembly and assembly process does not require tools and the operation time is short.

[0027] A method for using an assembly device for cross roller bearings in robots, comprising the following specific steps: S1. The operator first conducts an overall status check on the assembly device body 1, confirming that the bearing pressing workbench 2 is flat and free of foreign objects, the conveyor belt 3 is not loose or damaged, the assembly robot arm 6 joints move flexibly without jamming, and the workstation conveyor 7 conveyor track is not blocked; the focus is on checking the pushing device 8 and the disassembly device 9: check whether the wiring of the driving motor 82 of the pushing device is secure, whether the gear plate 88 and the gear block 89 mesh smoothly, whether the push plate 812 is securely locked to the connecting block 811 through the mounting rod 93 of the disassembly device, and whether the mounting rod is fully inserted into the mounting slot 96; after confirming that all components are in normal condition, connect the external power supply to the assembly device body 1, ensure that the external switch is in the off state, and prepare to proceed with subsequent operations.

[0028] S2. The operator places the cross roller bearing parts 4 to be assembled in batches neatly at the feed end of the conveyor belt 3, ensuring that the stacking height of the bearing parts 4 does not exceed the side guardrail of the conveyor belt to avoid falling during the conveying process; turn on the control switch on the main body 1 of the assembly device corresponding to the conveyor belt 3, and the conveyor belt runs at a preset speed, smoothly conveying the batch of bearing parts 4 to the designated assembly area of ​​the assembly workbench 5. After the conveyor belt has delivered the bearing parts to the designated area, the conveyor belt can be temporarily turned off, or the automatic pause mode can be set to the designated area.

[0029] S3. Turn on the control switch of the assembly robot arm 6 and set the assembly parameters, such as assembly pressure, gripping angle, and assembly accuracy threshold, through the operation panel. After the assembly robot arm 6 starts, it first grips the bearing parts 4 to be assembled on the assembly worktable 5 and completes the precise assembly of the inner and outer rings and rollers of the bearing according to the preset program. If auxiliary pressing and positioning are required during the assembly process, some bearing parts that need to be reinforced and fixed can be transferred to the bearing pressing worktable 2. The pressing mechanism of the worktable is used to press the bearing parts to ensure that the assembly structure is stable. The assembled bearing parts 4 are stacked in batches on the side of the assembly worktable 5 near the station conveyor 7, waiting to be transferred.

[0030] S4. The operator turns on the external switch corresponding to the pusher device 8 on the main body 1 of the assembly device and starts the drive motor 82. The output end of the drive motor 82 drives the turntable 83 to rotate at a constant speed. The convex shaft 84 on the outer wall of the turntable moves in a circular motion with the turntable. Because the convex shaft is inserted into the oval slot 86 of the movable plate 85, the convex shaft slides along the inner wall of the slot and drives the movable plate to swing back and forth around the rotating shaft 87. The gear plate 88 at the bottom of the movable plate 85 swings synchronously. Through the meshing transmission with the tooth block 89 on the movable rod 810, it drives the movable rod to move along the insertion hole at the bottom of the mounting plate 81. Linear reciprocating motion; the push plate 812, connected to the movable rod 810 via the connecting block 811, reciprocates synchronously with the movable rod: when the push plate moves forward, it smoothly pushes the assembled bearing parts 4 stacked on the assembly workbench 5 onto the conveyor track of the station conveyor 7; when the push plate resets backward, it returns to the initial position and waits for the next pushing cycle; at the same time, the control switch of the station conveyor 7 is turned on, and the station conveyor transports the assembled bearing parts 4 pushed by the push plate to the next process area. The entire process does not require manual contact with the station conveyor, avoiding accidental finger contact injury.

[0031] S5. When the push plate 812 experiences wear and material residue after long-term use, resulting in decreased pushing accuracy and requiring maintenance, follow these steps: First, turn off the external switch of the push device 8 and stop the drive motor 82 to ensure the push plate 812 is in the reset state. The operator holds the annular pull rings 95 on both sides of the disassembly device 9 of the push plate 812 and pulls the pull rings at a constant speed away from the connecting block 811. The pull rings 95 drive the mounting rod 93 to move synchronously, and the sliders 92 on both sides of the mounting rod slide along the grooves 91 inside the push plate 812, simultaneously compressing the reset spring 94 until the mounting rod is completely disengaged from the mounting groove inside the connecting block 811. 96. At this point, the push plate and connecting block are unlocked, and the push plate can be directly removed for cleaning, wear repair, or replacement. After the push plate is repaired or replaced, hold the pull ring 95 again to pull the mounting rod 93 and compress the reset spring 94, so that the push plate 812 is attached to the connecting block 811 and the position of the mounting rod and the mounting groove is aligned. Slowly release the pull ring 95, and the reset spring 94 returns to its natural extension state, pushing the slider 92 and the mounting rod 93 to reset. The mounting rod automatically inserts into the mounting groove 96, completing the quick installation of the push plate. After installation, manually push the push plate 812 to check whether it is stable. After confirming that there is no problem, turn on the external switch of the pushing device again to restore the pushing function.

[0032] S6. After all the crossed roller bearing parts 4 have been assembled and transferred, first turn off the control switches of the workstation conveyor 7 and the pusher device 8, and then turn off the switches of the assembly robot arm 6 and the transport conveyor belt 3; disconnect the external power supply of the main body 1 of the assembly device, and clean the device: clean the bearing debris or oil stains remaining on the transport conveyor belt 3, the assembly worktable 5, and the workstation conveyor 7, and wipe the surface of the push plate 812 and the disassembly device 9.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An assembly device for a cross roller bearing for a robot, comprising an assembly device body (1), characterized in that: A bearing pressing workbench (2) is installed on the left side of the main body (1) of the assembly device. A conveyor belt (3) is installed on the main body (1) of the assembly device. Bearing parts (4) are transported and placed on the conveyor belt (3). An assembly workbench (5) is installed in the middle of the main body (1) of the assembly device. An assembly robot arm (6) is installed above the assembly workbench (5). A station conveyor (7) is connected to one side of the assembly workbench (5). A pushing device (8) is installed on the station conveyor (7). A disassembly device (9) is installed on the pushing device (8).

2. The assembly device for a cross roller bearing for a robot according to claim 1, characterized in that: The feeding device (8) includes a mounting plate (81) installed on the outer wall of the workstation conveyor (7), a drive motor (82) installed on the outer wall of the mounting plate (81), a turntable (83) connected to the output end of the drive motor (82), a convex shaft (84) installed on the outer wall of the turntable (83), a rotating shaft (87) rotatably connected to the mounting plate (81), a movable plate (85) connected to the rotating shaft (87), and a slot (84) formed in the movable plate (85) and inserted into the convex shaft (84). 6) A gear plate (88) is set on the outer wall of the bottom end of the movable plate (85), a movable rod (810) is inserted into the outer wall of the bottom end of the mounting plate (81), a tooth block (89) is set on the movable rod (810) and meshes with the gear plate (88), a connecting block (811) is connected to the side wall of the movable rod (810), and a push plate (812) is connected to the connecting block (811), wherein a disassembly device (9) is installed between the connecting block (811) and the push plate (812).

3. The assembly device for a cross roller bearing for a robot according to claim 2, characterized in that: An external switch is provided on the main body (1) of the assembly device, and the input end of the drive motor (82) is electrically connected to the external switch through a wire.

4. The assembly device for a cross roller bearing for a robot according to claim 2, characterized in that: The slot (86) is oval in shape, and the diameter of the slot (86) is equal to the outer diameter of the convex shaft (84).

5. The assembly device for a cross roller bearing for a robot according to claim 2, characterized in that: The tooth blocks (89) are evenly arranged in several groups along the straight line of the length of the movable rod (810), and the gap between each group of tooth blocks (89) is engaged with the gear plate (88).

6. The assembly device for a cross roller bearing for a robot according to claim 2, characterized in that: The disassembly device (9) includes a groove (91) opened in the push plate (812), a slider (92) slidably connected in the groove (91), an installation rod (93) connected to the slider (92) and inserted into the push plate (812), a return spring (94) wound around the outer wall of the installation rod (93), a pull ring (95) fixed on the outer end wall of the installation rod (93), and an installation groove (96) opened in the connecting block (811).

7. The assembly device for a cross roller bearing for a robot according to claim 6, characterized in that: One end of the reset spring (94) is connected to the outer wall of the slider (92), and the other end of the reset spring (94) is connected to the inner wall of the push plate (812).

8. The assembly device for a cross roller bearing for a robot according to claim 6, characterized in that: The pull ring (95) is shaped like a ring, and the outer wall of the pull ring (95) is provided with anti-slip texture.

9. The assembly device for a cross roller bearing for a robot according to claim 6, characterized in that: The outer diameter of the mounting rod (93) is equal to the inner diameter of the mounting groove (96), and the mounting rod (93) is inserted into the mounting groove (96) through the push plate (812).

10. A method of using the assembly device for a robot crossed roller bearing according to any one of claims 1-9, characterized in that: S1. The operator first checks the overall condition of the assembly device body (1) to confirm that the bearing pressing workbench (2) is flat and free of foreign objects, the conveyor belt (3) is not loose or damaged, the assembly robot arm (6) has flexible joint movement without jamming, and the workstation conveyor (7) has no blockage in the conveying track; focus on checking the pushing device (8) and disassembly device (9): check whether the wiring of the drive motor (82) of the pushing device is firm, whether the gear plate (88) and the gear block (89) mesh smoothly, whether the push plate (812) is locked firmly through the mounting rod (93) of the disassembly device and the connecting block (811), and whether the mounting rod is fully inserted into the mounting slot (96); after confirming that all components are in normal condition, connect the external power supply to the assembly device body (1), ensure that the external switch is in the off state, and prepare to proceed with subsequent operations. S2. The operator places the cross roller bearing parts (4) to be assembled in batches neatly at the feed end of the conveyor belt (3) to ensure that the stacking height of the bearing parts (4) does not exceed the side guardrail of the conveyor belt to avoid falling during the conveying process; turn on the control switch corresponding to the conveyor belt (3) on the main body (1) of the assembly device, and the conveyor belt runs at the preset speed to smoothly transport the batch of bearing parts (4) to the designated assembly area of ​​the assembly workbench (5). After the conveyor belt has transported the bearing parts to the designated area, the conveyor belt can be temporarily turned off or the automatic pause mode can be set. S3. Turn on the control switch of the assembly robot arm (6) and set the assembly parameters through the operation panel, such as assembly pressure, gripping angle and assembly accuracy threshold. After the assembly robot arm (6) starts, it first grips the bearing parts (4) to be assembled on the assembly workbench (5) and completes the precise assembly of the inner and outer rings and rollers of the bearing according to the preset program. If it is necessary to assist in pressing and positioning during the assembly process, some bearing parts that need to be reinforced and fixed can be transferred to the bearing pressing workbench (2). The pressing mechanism of the workbench is used to assist in pressing the bearing parts to ensure that the assembly structure is stable. The assembled bearing parts (4) are stacked in batches on the side of the assembly workbench (5) near the station conveyor (7) and are waiting to be transferred. S4. The operator turns on the external switch corresponding to the pusher device (8) on the main body (1) of the assembly device and starts the drive motor (82). The output end of the drive motor (82) drives the turntable (83) to rotate at a constant speed. The convex shaft (84) on the outer wall of the turntable moves in a circular motion with the turntable. Because the convex shaft is inserted into the oval slot (86) of the movable plate (85), the convex shaft slides along the inner wall of the slot and drives the movable plate to swing back and forth around the rotating shaft (87). The gear plate (88) at the bottom of the movable plate (85) swings synchronously. Through the meshing transmission with the toothed block (89) on the movable rod (810), the movable rod is driven along the mounting plate (81). The bottom insertion hole makes a linear reciprocating motion; the push plate (812) connected to the movable rod (810) through the connecting block (811) reciprocates synchronously with the movable rod: when the push plate moves forward, it smoothly pushes the assembled bearing parts (4) stacked on the assembly workbench (5) onto the conveying track of the station conveyor (7); when the push plate resets backward, it returns to the initial position and waits for the next pushing cycle; at the same time, the control switch of the station conveyor (7) is turned on, and the station conveyor transports the assembled bearing parts (4) pushed by the push plate to the next process area. The entire process does not require manual contact with the station conveyor, avoiding accidental finger contact damage. S5. When the push plate (812) is worn or has material residue after long-term use, resulting in a decrease in pushing accuracy and requiring maintenance, follow these steps: First, turn off the external switch of the pushing device (8) and stop the drive motor (82) to ensure that the push plate (812) is in the reset state; the operator holds the circular pull ring (95) of the disassembly device (9) on both sides of the push plate (812) and pulls the pull ring at a constant speed away from the connecting block (811); the pull ring (95) drives the mounting rod (93) to move synchronously, and the sliders (92) on both sides of the mounting rod slide along the groove (91) in the push plate (812), while compressing the reset spring (94) until the mounting rod is completely disengaged from the connecting block (811). When the mounting slot (96) is engaged, the push plate and the connecting block are unlocked. The push plate can be removed directly for cleaning, wear repair, or replacement. After the push plate is repaired or replaced, hold the pull ring (95) again to pull the mounting rod (93) and compress the reset spring (94). Place the push plate (812) against the connecting block (811) and align the mounting rod with the mounting slot. Slowly release the pull ring (95), and the reset spring (94) will return to its natural extension state. Push the slider (92) and the mounting rod (93) to reset. The mounting rod will automatically insert into the mounting slot (96) to complete the quick installation of the push plate. After installation, manually push the push plate (812) to check if it is stable. After confirming that there are no errors, turn on the external switch of the pusher device again to restore the pusher function. S6. After all the cross roller bearing parts (4) have been assembled and transferred, first turn off the control switches of the workstation conveyor (7) and the pusher (8), and then turn off the switches of the assembly robot arm (6) and the transport conveyor belt (3); disconnect the external power supply of the main body (1) of the assembly device and clean the device: clean the bearing debris or oil stains remaining on the transport conveyor belt (3), the assembly worktable (5), and the workstation conveyor (7), and wipe the surface of the push plate (812) and the disassembly device (9).

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